Deployable Aerial Countermeasures for Neutralizing and Capturing Target Aerial Vehicles

ABSTRACT

A counter-attack unmanned aerial vehicle (UAV), for aerial neutralization of a detected target aerial vehicle, comprises a flight body and a flight control system to intercept the detected target aerial vehicle, and comprises an aerial vehicle capture countermeasure (e.g., a net) operable to capture the detected target aerial vehicle. The aerial vehicle capture countermeasure can comprise a net deployable from the counter-attack UAV, and a captured target aerial vehicle can be delivered to a particular location. A system for aerial neutralization of a detected target aerial vehicle comprises an aerial vehicle detection system comprising at least one detection sensor operable to detect the target aerial vehicle, and operable to provide command data (including location data) to at least one counter-attack UAV for neutralization of the target aerial vehicle. The counter-attack UAV and systems may be autonomously operated. Associated systems and methods are provided.

BACKGROUND

Unmanned aerial vehicles (UAVs), such as multi-rotor drones, fixed-wingdrones, and tilt rotor drones, have become increasingly popular in thepast decade. This popularity, coupled with their constantly improvingperformance capabilities, pose threats in terms of collisions with otheraerial vehicles or structures, whether accidental or deliberate. Moreserious threats are also becoming more of a realization and possibility,such as terrorist attacks on high-value targets, such as governmentcomplexes, international airports, nuclear or other power plants,petrochemical facilities, water reservoirs, sporting events, and otherhighly-populated or critical infrastructure or locations. Factors thatcontribute to such threats are the high rate of speed of drones, theirsmall signature, the possibility of simultaneous, coordinated attacksfrom a number of attacking drones, their ability to carry increasinglylarge payloads, and others. These factors are exacerbated by the factthat drones are relatively inexpensive, easy to acquire, highlyportable, and highly maneuverable. Moreover, consumer drones aredramatically improving in terms of endurance, range, and payloadtransport capabilities (e.g., some consumer drones can carry up to 50lbs., with other more expensive and advanced drones being able to carryup to 400 pounds), which is enough to carry significant amounts ofexplosives, projectiles, biological, and/or chemical weapons. In manycases, a drone operated for a deliberate attack can be launched andflown into a protected perimeter within just a few seconds, which leavesminimal time to detect and neutralize the attacking drone.

With all these considerations in mind, one or more inexpensiveadversarial drones can be autonomously or manually flown into aprotected area while potentially causing a large amount of damage and/orharm, all at a very low cost and effort by a programmer/operator.Counteracting such threats with existing technologies can be very costlyand complex, particularly when trying to protect a relatively largeairspace associated with hundreds of acres or square kilometers of aproperty.

BRIEF SUMMARY OF THE INVENTION

In one example, the present disclosure sets forth a counter-attackunmanned aerial vehicle (“counter-attack UAV”) for aerial neutralizationof a target aerial vehicle. The counter-attack UAV can comprise a flightbody and a flight control system that controls flight of thecounter-attack UAV to intercept a detected target aerial vehicle. Thecounter-attack UAV can comprise an aerial vehicle capturecountermeasure, carried by the flight body, and that is operable tocapture the detected target aerial vehicle, thereby neutralizing thetarget aerial vehicle.

In one example, the counter-attack UAV comprises at least one sensorconfigured to detect a position of the target aerial vehicle. The flightcontrol system can comprise a flight controller operable to controlautonomous flight of the counter-attack UAV based on a detected positionof the target aerial vehicle.

In one example, the counter-attack UAV comprises a wirelesscommunication device supported by the flight body and communicativelycoupled to an external aerial vehicle detection system. Thecommunication device can be configured to receive command data, whichcan include location data, from the external aerial vehicle detectionsystem to intercept the target aerial vehicle, and the command data canbe associated with the target aerial vehicle as detected by the externalaerial vehicle detection system.

In one example, the present disclosure sets forth a system for detectingand neutralizing a target aerial vehicle. The system can comprise acounter-attack UAV comprising: a flight body; a flight control systemthat controls flight of the counter-attack UAV; and an aerial vehiclecapture countermeasure carried by the flight body. The system cancomprise an aerial vehicle detection system comprising at least onedetection sensor operable to detect a target aerial vehicle while thetarget aerial vehicle is in flight. The aerial vehicle detection systemcan be operable to provide command data, which can include locationdata, to the counter-attack UAV to facilitate interception of the targetaerial vehicle by the counter-attack UAV. In response to interception ofthe target aerial vehicle, the counter-attack UAV is operable to capturethe detected target aerial vehicle with the aerial vehicle capturecountermeasure, thereby neutralizing the target aerial vehicle.

In one example, the aerial vehicle detection system comprises anon-board aerial vehicle detection system comprising at least one sensorconfigured to detect a position of the target aerial vehicle. The flightcontrol system can comprise a flight controller operable to controlautonomous flight of the counter-attack UAV based on the detectedposition of the target aerial vehicle.

In one example, the aerial vehicle detection system can comprise anexternal aerial vehicle detection system comprising at least onedetection sensor operable to detect the target aerial vehicle, and toprovide command data to the counter-attack UAVs to facilitateinterception of the target aerial vehicle by the counter-attack UAVs.

In one example, the external aerial vehicle detection system isassociated with a ground-based structure to monitor an airspace, and theat least one detection sensor comprises a plurality of detection sensorsconfigured to detect at least one target aerial vehicle.

In one example, the system can comprise a plurality of counter-attackUAVs and an aerial vehicle capture countermeasure coupling together theplurality of counter-attack UAVs. The plurality of counter-attack UAVscan be operable in a coordinated manner to capture the target aerialvehicle with the aerial vehicle capture countermeasure, therebyneutralizing the target aerial vehicle.

In one example, the present disclosure sets for a method for aerialneutralization of a target aerial vehicle. The method can comprise:detecting a target aerial vehicle while in flight; operating acounter-attack UAV to intercept the target aerial vehicle; and capturingthe target aerial vehicle with an aerial vehicle capture countermeasurecarried by a flight body of the counter-attack UAV, thereby neutralizingthe target aerial vehicle.

In one example, wherein detecting the target aerial vehicle furthercomprises tracking a dynamic flight position with an aerial vehicledetection system.

In one example, the method can comprise communicating position databetween a plurality of counter-attack UAVs to facilitate coordinatedneutralization of the target aerial vehicle, and deploying the aerialvehicle capture countermeasure to a deployed position by coordinatingflight of the plurality of counter-attack UAVs.

BRIEF DESCRIPTION OF THE DRAWINGS

Features and advantages of the invention will be apparent from thedetailed description which follows, taken in conjunction with theaccompanying drawings, which together illustrate, by way of example,features of the invention; and, wherein:

FIG. 1 is an illustration that graphically and schematically shows asystem for detecting and neutralizing target aerial vehicle(s) with acounter-attack UAV in accordance with an example of the presentdisclosure.

FIG. 2 is a block diagram that illustrates possible detection andcommunication features of the system of FIG. 1 in accordance with anexample of the present disclosure.

FIG. 3 is a block diagram that illustrates possible detection andoperation features of any one of the counter-attack UAVs of FIG. 1 inaccordance with an example of the present disclosure.

FIG. 4A illustrates one of the counter-attack UAVs of FIG. 1, carryingor supporting an aerial vehicle capture countermeasure in a stowed orfolded position in accordance with one example of the presentdisclosure.

FIG. 4B illustrates the counter-attack UAV of FIG. 4A, showing theaerial vehicle capture countermeasure transitioning from the foldedposition to a deployed position.

FIG. 4C illustrates the counter-attack UAV of FIG. 4A, showing theaerial vehicle capture countermeasure in the deployed position, andready to capture a target aerial vehicle.

FIG. 4D illustrates the counter-attack UAV of FIG. 4A, showing theaerial vehicle capture countermeasure and the captured target aerialvehicle being released by the counter-attack UAV.

FIG. 5A illustrates the counter-attack UAV of FIG. 4A, supported by apedestal while in a grounded state in accordance with an example of thepresent disclosure.

FIG. 5B illustrates the counter-attack UAV of FIG. 4A deployed from thepedestal to intercept and neutralize a target aerial vehicle.

FIG. 6A illustrates another one of the counter-attack UAVs of FIG. 1,carrying or supporting an aerial vehicle capture countermeasure in astowed or folded position, in accordance with another example of thepresent disclosure.

FIG. 6B illustrates the counter-attack UAV of FIG. 6A, showing theaerial vehicle capture countermeasure transitioning from the foldedposition to a deployed position.

FIG. 6C illustrates the counter-attack UAV of FIG. 6A, showing theaerial vehicle capture countermeasure in the deployed position, andready to capture a target aerial vehicle.

FIG. 7 illustrates a counter-attack UAV supporting and towing an aerialvehicle capture countermeasure in accordance with another example of thepresent disclosure.

FIG. 8 illustrates a counter-attack UAV supporting and towing an aerialvehicle capture countermeasure in accordance with another example of thepresent disclosure.

Reference will now be made to the exemplary embodiments illustrated, andspecific language will be used herein to describe the same. It willnevertheless be understood that no limitation of the scope of theinvention is thereby intended.

DETAILED DESCRIPTION

As used herein, the term “substantially” refers to the complete ornearly complete extent or degree of an action, characteristic, property,state, structure, item, or result. For example, an object that is“substantially” enclosed would mean that the object is either completelyenclosed or nearly completely enclosed. The exact allowable degree ofdeviation from absolute completeness may in some cases depend on thespecific context. However, generally speaking the nearness of completionwill be so as to have the same overall result as if absolute and totalcompletion were obtained. The use of “substantially” is equallyapplicable when used in a negative connotation to refer to the completeor near complete lack of an action, characteristic, property, state,structure, item, or result.

As used herein, “adjacent” refers to the proximity of two structures orelements. Particularly, elements that are identified as being “adjacent”may be either abutting or connected. Such elements may also be near orclose to each other without necessarily contacting each other. The exactdegree of proximity may in some cases depend on the specific context.

To further describe the present technology, examples are now providedwith reference to the figures.

FIG. 1 schematically and graphically illustrates a system and method forprotecting an airspace area A with an external aerial vehicle detectionsystem 100 and one or more counter-attack UAV(s), such as examplecounter-attack UAVs 102 a-c. The external aerial vehicle detectionsystem 100 can be configured to communicate with the counter-attackUAV(s) 102 a-c for the purpose of neutralizing one or more target aerialvehicle(s) (e.g., see target aerial vehicles 104 a and 104 b) that maybe encroaching or approaching the airspace area A, and that aredetermined to be a threat to the airspace area A. FIG. 2 is a blockdiagram that illustrates the components of the external aerial vehicledetection system 100 and its ability to perform detecting and real-timetracking of the target aerial vehicle(s) 104 a and/or 104 b, and tocommunicate command data to the counter-attack UAV(s) 102 a-c. Thecommand data can include any data relevant to facilitate capture of thetarget UAV, including, but not limited to, data pertaining to thelocation of the target UAV. And, FIG. 3 is a block diagram thatillustrates a control system of an individual counter-attack UAV (e.g.,any one of 102 a-c) for neutralizing the target aerial vehicle(s) 104 aand/or 104 b, and how the control system is operable with the externalaerial vehicle detection system 100 and other counter attack UAVs 102.

As an overview, and in one example, the system of FIG. 1 can comprisethe external aerial vehicle detection system 100 configured to detectincoming target aerial vehicles 104 a and 104 b that may be a threat toinfrastructure and/or assets within the airspace area A (e.g.,buildings, commercial airplanes, utilities, personnel). The externalaerial vehicle detection system 100 can be configured to obtain andcommunicate information about the detected target aerial vehicles 104 aand 104 b, such as their tracked position(s) periodically over time orin real-time, their altitude, their trajectory, their velocities, andany other sensed or acquired information pertaining to the target aerialvehicles 104 a and 104 b. Once obtained, this information can becommunicated to the counter-attack UAV(s) 102 a-c, so that thecounter-attack UAV(s) 102 a-c can intercept and neutralize therespective target aerial vehicle(s) 104 a and 104 b, as further detailedbelow. The target aerial vehicles 104 a and 104 b can be any type ofUAV, for example, but not limited to, unmanned single or multi-rotorUAVs or fixed-wing UAVs (or tilt rotor UAVs), and others, that can beoperated autonomously or manually. Alternatively, the target aerialvehicles 104 a and 104 b can be manned vehicles, such as a mannedhelicopter, manned propeller airplane, or other manned aerial vehicles.As mentioned, target aerial vehicles 104 a and 104 b (e.g., multi-rotorUAVs) can be significant threats because they can ascend/descendvertically up to several kilometers in airspace, can hover for manyminutes, are extremely agile, fast, and maneuverable around obstacles,have small visual/IR/radar signatures, and can transport substantialpayloads. Therefore, quickly detecting and tracking their positions andvelocities within a relatively short timeframe (e.g., a few seconds) iscritical to effectively prevent breach of the airspace area A, and moreimportantly to protect assets associated with the monitored airspacearea A.

To “intercept” can mean that a counter-attack UAV, such ascounter-attack UAV 102 a (and/or 102 b, 102 c) is flown into a positionrelative to a target aerial vehicle (for example, target aerial vehicle104 a) that permits the counter-attack UAV 102 a to perform aneutralizing function with respect to the target aerial vehicle 104 a.This can include, but is not limited to, flying the counter-attack UAV102 a into a projected flight path of the target aerial vehicle 104 a,or along a flightpath offset from, but proximate the target aerialvehicle 104 a, or to a position proximate the target aerial vehicle 104a, or along a flightpath behind the target aerial vehicle 104 a, oralong any other flight path or to any position where the counter-attackUAV 102 a is in close proximity to the target aerial vehicle 104 a.

The external aerial vehicle detection system 100 can be supported by orassociated with a ground-based structure, a vehicle (e.g., land, sea, orair), a movable platform, or other platform that can support a number ofcomponents discussed herein as associated with the external aerialvehicle detection system 100. The external aerial vehicle detectionsystem 100 can comprise a number of sensors or platforms spaced apartfrom each other around an area or about different structures, and thatcan each be communicatively coupled to each other and/or a centralcomputer system for controlling gimbals, for pointing positions, forprocessing data associated with target aerial vehicle(s), and forcommunicating command data to one or more counter-attack UAVs. Note thata plurality of aerial vehicle detection systems (e.g., 100) can beincorporated around an area to protect a larger airspace, and which caneach have a computer system communicatively coupled to the computersystems of the other aerial vehicle detection systems to cooperativelymonitor and protect a given airspace.

As more particularly shown in FIG. 2, the external aerial vehicledetection system 100 can comprise at least one detection sensor 106 a(where, although not shown, up to n (any) number of detection sensorsare contemplated, as will be appreciated by those skilled in the art)operable to collect and generate data associated with the target aerialvehicles(s) 104 a and 104 b (e.g., velocity, geolocation, altitude,trajectory or flight path, and others). For example, the detectionsensor(s) 106 a can comprise one or more acoustic sensor(s), such asacoustic sensor 108 a, and one or more camera(s), such as camera 110 athat are operable to collect and generate data associated with thetarget aerial vehicle(s) 104 a and 104 b. The detection sensor(s) 106 acan comprise other target acquisition assets, such as radar device(s)107 a, LIDAR device(s) 109 a, and/or binocular(s) 111 a, each coupled toa CPU 112 and having the capability to measure azimuth elevation/tiltangle of a target aerial vehicle. The detection sensor(s) 106 a canfurther comprise other sensors, such as electromagnetic signaturesensors used to detect a target aerial vehicle prior to taking-off,and/or cameras operating over a different portion of the electromagneticspectrum from LWIR to SWIR to visible. Other possible sensors includenarrow band light emitters with detectors (e.g., cameras) that havetheir detection band closely matched to those of the light emitters,and/or other sensors such as narrow band light emitters (e.g., UVsources) that may make portion the target fluoresce in a differentportion of the electromagnetic spectrum facilitating its detection. Notethat the detection sensor(s) 106 a may be able to detect multiple targetaerial vehicles at the same time, wherein the CPU 112 (or multiple CPUs)can be configured to determine which sensor(s) is/are most credible orreliable for target aerial vehicle(s), and then configured to assign oneor more of such sensor(s) to continue to track and monitor the targetaerial vehicle(s) while un-assigning other sensor(s) from trackingparticular target aerial vehicle(s). This concept is further discussedbelow regarding the “credibility hierarchy”.

In some examples, the acoustic sensor(s) 110 a can comprise one or moremicrophones that can detect and track target aerial vehicle(s) 104 a and104 b at a large distance (e.g., up to 500 meters, or more). A databaseof UAV signatures can be obtained or built and accessed by a CPU 112 ofthe aerial vehicle detection system 110 to determine the existence andtype of the detected target aerial vehicle(s) 104 a and 104 b. In thismanner, the CPU 112, utilizing a processor, can eliminate or ignore thesignatures of any (friendly) counter-attack UAV(s) 102 a-c that may bein flight while detecting the signatures of target aerial vehicle(s) 104a and 104 b (assuming the “friendly” and “enemy” UAVs are differenttypes of UAVs, or assuming the CPU 112 is programmed to differentiatebetween the two, such as based on known positions of counter-attackUAVs).

In some examples, one or more sensor(s) or camera(s) 114 a (e.g., seesensor 114 a, although n number of sensors are contemplated) (e.g., IR,optical, CCD, CMOS) can be incorporated as one or more of the detectionsensors (e.g., see detection sensor 106 a, although n number ofdetection sensors are contemplated) of the external aerial vehicledetection system 100. For instance, infrared (IR) camera(s) can beimplemented into the system and directed toward a particular airspacefor viewing possible incoming target aerial vehicles. IR cameras areuseful in this system because they can assist to overcome environmentalproblems experienced by other sensors (e.g., optical cameras), becauseIR cameras can operate in the dark or in foggy, dusty, or hazyconditions. IR cameras utilized in this system have the additionaladvantage that the IR signal from a target aerial vehicle (e.g., a UAV)is very different from that of birds in flight. IR cameras based on theshortwave infrared (SWIR) spectrum can interact with objects in asimilar manner as visible wavelengths, as it is reflective, bouncing-offobjects. As a result, SWIR light has shadows and contrast in itsimagery. Images from a SWIR camera are comparable to visible images inresolution and detail. An atmospheric phenomenon called night skyradiance or night glow emits five to seven times more illumination thanstarlight, nearly all of it in the SWIR wavelengths. Because of this,SWIR cameras can see objects with great clarity on moonless nights. SuchSWIR camera(s) can be incorporated into the present external aerialvehicle detection system 100 (and/or into the counter-attack UAV(s)).Longwave infrared (LWIR) cameras are more optimal for outdoor usebecause they are less affected by radiation from the Sun than with SWIRcameras. As such, LWIR camera(s) can be incorporated into the externalaerial vehicle detection system 100 to benefit from the advantages ofoutdoor use to detect and track target aerial vehicle(s). Othercamera(s), such as optical cameras (e.g., HD, 4K), can also beincorporated as detection sensor(s) 106 a of the external aerial vehicledetection system 100 to assist with detection and tracking the positionof target aerial vehicle(s) 104 a and 104 b.

In some examples, one or more telephoto lenses can be operable andincorporated with one or more of the SWIR and LWIR camera(s), and/oroptical camera(s), and can be mounted on high-resolution motorizedgimbals (e.g., 2-axis gimbals) associated with the external aerialvehicle detection system 100 to assist with detecting and tracking theposition(s) of target aerial vehicle(s) 104 a and 104 b, including theangular position and/or azimuth elevation, in some cases depending onthe type of sensor employed. Two or more detection sensors describedherein can be used to compute range of a target aerial vehicle.Moreover, a particular camera (e.g., IR, optical) can be used inconjunction with an on-board (or remotely supported) laser range finderto determine the position of the target aerial vehicle inthree-dimensional space (e.g., distance, azimuth angle, and elevationangle). Such telephoto lenses and gimbals can each be operated toestablish the pointing position (and to dynamically modify the pointingposition) of the associated camera, and therefore adjust a field-of-view(FOV) 105 a (FIG. 1), for instance, of a particular camera. Thesetelephoto lenses and gimbals can be operated manually or autonomously(discussed below) to continuously track a dynamic flight position orpath of a particular target aerial vehicle. In one example, a 360-degreecamera device (having IR or optical camera(s)) could also be integratedwith the external aerial vehicle detection system 100 to monitor anentire 360-degree air space, which may or may not require a gimbal foroperation to monitor such airspace.

Computer vision algorithms stored and processed by the CPU 112 of theexternal aerial vehicle detection system 100 can be implemented forautomatic detection and tracking of the target aerial vehicle(s) 104 aand 104 b. Such computer vision algorithms can “pull” a moving objectout of a static background and classify it by shape (i.e., featuredetection). Other mechanisms for classification of target aerialvehicle(s) 104 a and 104 b include using neural networks, which arecomputer algorithms designed to mimic the workings of the human brain,that are trained to recognize known/stored images of profiles that maybe similar to the particular detected target aerial vehicle(s) 104 a and104 b. Those skilled in the art will recognize that various knownalgorithms can be implemented to achieve this functionality, including“convolutional neural network” (CNN) combined with fast detection, suchas provided by the You Only Look Once (YOLO) detection architectureknown in the industry. Once the target aerial vehicle(s) are detected bythe computer vision system (e.g., CNN, YOLO), the gimbal orientationsupporting the camera can be used to determine azimuthal and elevationof the target aerial vehicle. Information from multiple computer visionsystems may be combined to calculate range in addition to azimuthal andelevation angle. The target classification and position informationcollected using the computer vision system can further be combined/fusedwith information collected from other sensor(s) (e.g., 106 a) toincrease the likelihood of detection, and/or accuracy of classificationof the target aerial vehicle, and/or tracking of the position of thetarget aerial vehicle.

In some examples, Phase-Based Video Motion processing technology can beincorporated with the external aerial vehicle detection system 100(e.g., software processed by the CPU 112). Phase-Based Video Motionprocessing technology amplifies very small motions that otherwise couldnot be detected. This technology is further described in U.S. PatentPub. No. US20170000356 filed Jul. 1, 2015, which is incorporated byreference herein. Thus, small vibration motions inherent to targetaerial vehicles (e.g., UAVs) can be detected, which can overcome theissues with using only cameras to detect and track target aerialvehicles. For instance, as similarly discussed in U.S. Patent Pub. No.US20170000356, a method executed by a processor (e.g., CPU 112) receivesa video as input (e.g., video of a target aerial vehicle) andexaggerates subtle changes and micro-motions. To amplify motion, themethod does not perform feature tracking or optical flow computation,but merely magnifies temporal changes using spatio-temporal processing.This Eulerian based method, which temporally processes pixels in a fixedspatial region, reveals informative signals and amplifies small motionsin real-world videos. The Eulerian-based method begins by examiningpixel values of two or more images. The method then determines (with theprocessor) the temporal variations of the examined pixel values. Themethod is designed to amplify only small temporal variations. While themethod can be applied to large temporal variations, the advantage in themethod is provided for small temporal variations, such as when a targetaerial vehicle is detected at long ranges. Therefore, the method can beoptimized when the input video has small temporal variations between theimages of a particular target aerial vehicle while in flight. The methodcan then apply signal processing to the pixel values. For example,signal processing can amplify the determined temporal variations, evenwhen the temporal variations are small, such as vibrations of a targetaerial vehicle as captured in successive images by an optical sensor ofan external vehicle detection system of the present disclosure.

Once the target aerial vehicle(s) 104 a and 104 b have been identifiedin successive frames of video (e.g., using IR and/or 4K optical cameras,and/or other sensors such as Radar), autonomously tracking a dynamicflight position or path of the target aerial vehicle(s) 104 a and 104 band fusing position information provided by different sensingmethodology (e.g., camera and Radar) can be performed by utilizing aKalman filter, extended Kalman filter, particle filters, or anothervariation of a Bayesian filter. These filters work by taking an estimateof the velocity, position, and orientation of the particular targetaerial vehicle 104 a, for instance, and then predicting where the targetaerial vehicle 104 a will be in the next frame of video. Then, theposition of the target aerial vehicle 104 a in the next video frame iscompared with the predicted position, and the estimates for thevelocity, position, and orientation are updated. During such trackingwith one of the cameras 114 a, a feedback control loop can autonomouslyand continually adjust the gimbal (supporting the particular camera) tokeep the target aerial vehicle 104 a centered about the FOV 105 a of thecamera of the external aerial vehicle detection system 100. Thisfacilitates or maintains continuous tracking of a dynamic flightposition of a particular target aerial vehicle. Common algorithmsinclude centroid tracking, edge detection, feature-based algorithms, andarea correlation tracking. Using this system of cameras and filters, theexternal aerial vehicle detection system 100 can detect and track, inreal-time, a flight position or path of a particular target aerialvehicle.

Indeed, a number of detection sensors 106 a can be positioned about astructure or platform of the external aerial vehicle detection system100 in a manner that the detection sensors 106 a can cooperatively andcollectively monitor a perimeter of up to 360 degrees associated with anairspace around the position of the external aerial vehicle detectionsystem 100 to protect an area (e.g., a 500+m radius of coverage of anairspace). Alternatively, the detection sensors 106 a can be mounted andconfigured to point toward a particular area of interest less than 360degrees of coverage, such as through a canyon, or other particularegress of importance relative to the protected area A.

In some examples, the external aerial vehicle detection system 100 cancomprise at least one illumination device (see illumination device 116a), such as a laser or high-powered LED, operable to illuminate thedetected target aerial vehicle 104 a (while continuously tracking thetarget aerial vehicle 104 a, as detailed above). A particularillumination device 116 a can be mounted on a gimbal device (e.g.,3-axis) that is operable to modify a pointing position or direction ofthe illumination device to continuously direct the illumination devicetoward the target aerial vehicle 104 a for constant illumination. Inthis manner, a controller (operatively coupled to the CPU 112) can beoperated to control said pointing position based on the tracked positionor flight path of the target aerial vehicle 104 a. As will be discussedbelow, the counter-attack UAVs 102 a-c can have a band pass filter (on acamera) to detect only the narrow frequency band of light illuminatedonto the target aerial vehicle 104 a by the illumination device 116 a ofthe external aerial vehicle detection system 100.

In another example of a detection sensor of the external aerial vehicledetection system (100), a telescope or a pair of human use binocularsequipped with azimuthal and elevation angle sensors may be used tolocate a potential target aerial vehicle and transmit partial positioninformation to the counter-attack UAV(s) (and/or to a CPU of theexternal aerial vehicle detection system). In another example, thetelescope or binocular based detection system can be equipped with arange sensor, such as a laser range finder, and the information providedby this range sensor can be combined with that provided by the azimuthaland elevation angle sensors, thereby allowing the position of the targetUAV to be tracked in 3D.

Once the target aerial vehicle 104 a (for instance) is detected asentering a monitored airspace (e.g., within a 500 m radius of theexternal aerial vehicle detection system 100), the external aerialvehicle detection system 100 can transmit command data to thecounter-attack UAV 102 a for purposes of neutralizing the target aerialvehicle 104 a with the aerial vehicle capture countermeasure 134 a.Prior to receiving such command data, the counter-attack UAV(s) 102 a-cmay be in a grounded position at virtually any position(s) around thearea A, as long as they are within a range of communication with theexternal aerial vehicle detection system 100. The command data can begenerated by the CPU 112 and transmitted via radios 118 a-c to thecounter-attack UAV(s) 102 a-c. Optionally, a bi-directional free spacecommunication link 113 can be utilized in replacement of (or tosupplement) radios 118 a-c. The command data can include location data,and can be associated with the detected position(s) of the target aerialvehicle(s) 104 a and 104 b, and the command data can include datapertaining to a flight path, altitude, longitude, latitude, GPScoordinates (degrees, minutes, seconds), and/or other data associatedwith a geolocation and/or flight path of a particular target aerialvehicle. The command data can also include intercept data, such asinformation or instructions that command one or more counter-attackUAV(s) 102 a-c to fly at a certain velocity and direction to interceptthe detected target aerial vehicle.

The command data transmitted to the counter-attack UAV by the externalaerial vehicle detection system 100 can also include aerial vehiclecapture countermeasure deployment command data, such as information orinstructions that instruct or command the counter-attack UAV(s) 102 a-cto deploy a particular aerial vehicle capture countermeasure at aparticular location and time, for instance. The command data can furtherinclude target aerial vehicle detection data, such as position data orinformation (discussed above), and even information other than positioninformation, such as identification information about the type of UAV ofthe target aerial vehicle(s) detected by the detection sensor(s) 106 a.Such information can aid the external aerial vehicle detection system100 and/or the counter-attack UAV(s) 102 a-c to determine the size, type(e.g., fixed or rotary wing), on-board features, and/or performancecapabilities of a particular target aerial vehicle, for instance, whichcan affect the type of countermeasure to be deployed to neutralize thetarget aerial vehicle (as will be discussed and appreciated from thebelow discussion).

The command data can also include counter-attack UAV control data, whichcan include instructions (from the external aerial vehicle detectionsystem 100) for controlling some or all aspects of the counter-attackUAVs 102 a-c. In this manner, the counter-attack UAVs 102 a-c can be“dummy” drones that have disabled or overridden internal flightcontrols, so that the external aerial vehicle detection system 100 cancontrol flight, deployment, sensor pointing, etc. Therefore, theexternal aerial vehicle detection system 100 can detect and monitor theposition or flight path of the target aerial vehicle 104 b, forinstance, with one detection sensor and processing unit, whilecontrolling flight and countermeasure (e.g., net) deployment of thecounter-attack UAVs 102 b and 102 c.

Using at least some of such command data, the counter-attack UAV(s) 102a-c can be guided or directed to be flown toward the position(s) (orpredicted position), or within close proximity, of the target aerialvehicle(s) 104 a and 104 b for interception and neutralization purposes.This system discussed regarding FIGS. 1 and 2 is particularlyadvantageous in cases where the target aerial vehicle(s) 104 a and 104 bmay be several kilometers away from the airspace area A, and evenseveral kilometers in altitude. This is because it may be difficult foran individual counter-attack UAV to know where to “look” (and whichdirection to fly) in a plausibly large amount of airspace and atpossible long ranges. This is because many on-board cameras of acounter-attack UAV can only detect, identify, and classify targets atlarger ranges (e.g., greater than 100 m), if the FOV is significantlyreduced (e.g., 10 degrees or less).

As discussed above, the external aerial vehicle detection system 100 canoperate the plurality of detection sensors (e.g., two or more ofdetection sensors 106 a) to generate position data associated with atarget aerial vehicle. The CPU 112 can then operate to eliminateposition data associated with one or more of the detection sensors basedon a credibility hierarchy associated with the plurality of detectionsensors. Such credibility hierarchy can be based on environmentalconditions. For instance, when operating during daytime and with noclouds, the credibility hierarchy could include position data derivedfrom the following list of prioritized detection sensors: (1) an opticalcamera, (2) binoculars, (3) IR camera(s), (4) a radar device, (5) aLIDAR device, (6) an acoustic sensor, (7) an illumination device, and(8) other sensors. More specifically, once the CPU 112 has determined orknows of such environmental conditions, the CPU 112 can eliminateposition data associated with sensors 3 through 7 (and/or un-assign suchsensors from operating), while using position data generated from (1)the optical camera and (2) the binoculars (e.g., assigned detectionsensors). Ideally, position data generated from the optical camera(s)would be the most credible during daytime in daylight without clouds,birds, etc. However, if signals generated from (2) the binoculars aremore credible for any particular reason (e.g., the binoculars have lessintermittent signal loss than the optical camera), then the CPU 112 caneliminate the position data generated from the optical camera, and usethe position data generated from the binoculars, and then communicatethe position data to one or more counter-attack UAVs. Such processing ofeliminating certain position data can occur many times per minute, sothat the best tracking information is generated and processed by theexternal vehicle detection system 100 for transmitting to thecounter-attack UAVs, thereby improving or increasing the chances ofintercepting and capturing the detected target aerial vehicle(s).

In another example of credibility hierarchy, assume the operatingconditions are at night and with cloud cover, such that very littlelight is emitted to an area to be monitored by the external vehicledetection system 100. Here, the credibility hierarchy may be as follows:(1) IR camera(s), (2) an acoustic sensor, (3) a radar device, (4) aLIDAR device, (5) an illumination device, (6) other sensors, (7) opticalcamera, and (8) binoculars. This is because at night, IR camera(s) maygenerate the most credible position data, as discussed above. Thus, theCPU 112 can eliminate position data generated from detection sensors 4through 8, and then analyze the signals generated from detection sensors1 through 3 to determine the most credible position data generated. Forinstance, if the acoustic sensor is getting interference from othersounds, and if the radar device is affected by weather patter, then theCPU may only use position data from the IR camera(s) as the mostcredible position data (and only data) for transmitting to thecounter-attack UAV(s) to increase the chances of intercepting andcapturing the detected target aerial vehicle(s).

It should be appreciated by those skilled in the art that the CPU 112can include a tangible and non-transitory computer readable mediumcomprising one or more computer software modules configured to directone or more processors to perform the method steps and operationsdescribed herein.

As illustrated in FIG. 3, a particular counter-attack UAV 102 a (forinstance) can comprise one or more optical sensors (e.g., see opticalsensor 119), and/or other detection sensors 120. The optical sensors 119and the other sensors 120 can be operatively coupled to a CPU 122 forprocessing data generated by the optical sensors 119 and the othersensors 120 associated with position(s) of the target aerial vehicle(s)104 a and 104 b. The other sensors 120 can comprise one or more of thefollowing: (a) a temperature sensor; (b) a barometer/altimeter (c) aninertial measurement unit (IMU) (gyro-accelerometer); (d) a compass(magnometer); (e) ultrasonic and optical flow sensors; (f) an opticalrange finder (e.g., LIDAR by Leddartch, LIDAR by Velodyne, or LIDAR byQuanergy); (g) RTK-GPS and UWB tags; (h) stereo cameras (opticalguidance system); (i) high resolution camera(s); (j) low resolutioncamera(s); (k) LWIR camera(s); and (l) gimbal position sensors, as wellas any others apparent to those skilled in the art. Sensors (a-e), (g),(i), and (j) can also be coupled to a flight controller 126 and a videodownlink radio 124.

Based on the collected data generated from operating one or more of suchsensors, the flight controller can be configured to operate one or morepropellers/motors and gimbal devices for navigation/flight of thecounter-attack UAV based on a detected position or flight path of atleast one target aerial vehicle.

The counter-attack UAV 102 a can further comprise a wirelesscommunication device, such as an RF radio 124 (e.g., Mobilicom softwaredefined radio or other similar radio), that can wirelessly receive thecommand data from the external aerial vehicle detection system 100, andthen can transmit the command data to the CPU 122 for processing. Theradio 124 can be used to communicate a video feed, captured by theoptical sensor(s) 119, back to the external aerial vehicle detectionsystem 100 (or to another external computer system, or even to amanually-monitored display).

Based on the received command data, the counter-attack UAV 102 a canoperate autonomously to fly in a direction toward the detected positionof the target aerial vehicle 104 a to intercept the position or flightpath of the target aerial vehicle 104 a. More specifically, thecounter-attack UAV 102 a can comprise a flight controller 126 coupled tothe CPU 122 for receiving command signals associated with the commanddata processed by the CPU 122. The flight controller 126 can thencontrol the various components of the counter-attack UAV, such as rotorassemblies (e.g., see rotor assembly 128), gimbals or gimbal assemblies,and any other components or systems. The rotor assemblies can eachcomprises an electronic speed controller 130 and a motor/propeller 132that causes the counter-attack UAV 102 a to operate autonomously inflight. Thus, the CPU 122, the flight controller 126, and the rotorassemblies 128 can define a flight control system 133 that is operableto facilitate flight of the counter-attack UAV 102 a to intercept thetarget aerial vehicle 104 a, as further described herein.

Updated command data can be continuously communicated to thecounter-attack UAV 102 a so that the flight controller 126 can controlflight of the counter-attack UAV 102 a, as corresponding to a trackedflight path or position of the target aerial vehicle 104 a. In thismanner, the counter-attack UAV 102 a can intercept the target aerialvehicle 104 a, and can then neutralize the target aerial vehicle 104 awith an aerial vehicle capture countermeasure 134 a (e.g., a deployablenet) coupled to the counter-attack UAV 102 a, as further exemplifiedbelow regarding FIGS. 4A-8.

The optical sensors 119 (and/or the other sensors 120) and the CPU 122can define an on-board aerial vehicle detection system 137 that isoperable to detect the target aerial vehicle 104 a on its own, in oneexample (e.g., without the assistance of an external aerial vehicledetection system). Thus, the counter-attack UAV 102 a can detect thetarget aerial vehicle 104 a (assuming it is within range), and then theCPU 122 can generate command data, which it can then transmit signalsassociated with the command data to the flight controller 126 tofacilitate flight of the counter-attack UAV to intercept the targetaerial vehicle 104 a. Such on-board aerial vehicle detection system 137can be operated in conjunction with the external aerial vehicledetection system 100 to track a dynamic flight position of the targetaerial vehicle 104 a, so that if the external aerial vehicle detectionsystem 100 is unable to do such, then the on-board aerial vehicledetection system 137 can continue to such on its own as a back-updetection system.

Concurrently (or alternatively) before the counter-attack UAV 102 adeparts from a grounded position toward the target aerial vehicle 104 a,command data from the external aerial vehicle detection system 100 canbe processed by the CPU 122 of the counter-attack UAV 102 a to control apointing position of the optical sensor(s) 119 to “tell” thecounter-attack UAV 102 a where to “look” in airspace to find the targetaerial vehicle 104 a, in one example. Specifically, one of the opticalsensors 119 can be rotatably mounted by one or more gimbal device(s) 138to a flight body or platform of the counter-attack UAV 102 a. The CPU122 can then transmit control signals to gimbal controller(s) thatcontrol operation of the gimbal device(s) 138 (e.g., 3-axis gimbals) toestablish and control a pointing position of the optical sensor (i.e.,to point the camera toward the detected target aerial vehicle). As longas the target aerial vehicle 104 a is within a detection range of thecamera (e.g., up to 150 m, or more in some examples), the counter-attackUAV 102 a can detect and track the position of the target aerial vehicle104 a on its own and without the assistance of the external aerialvehicle detection system 100, if necessary.

In some examples, the other sensors 120 can comprise one or more radardevice(s), such as compact phased array radars and automotive radars.Small phase array radar systems, such as the Echodyne Mesa-X7, FortemTechnologies TrueView R20, and automotive radar systems like the DelphiAutomotive Radar, can be incorporated in the counter-attack UAV 102 a,which have a range of more than 200 m for small targets, such as smallconsumer drones (e.g., DJI Phantom 4). A radar array could also be usedas a detection sensor of the external aerial vehicle detection system100 for detection of a target aerial vehicle.

In some examples, in cases where the external aerial vehicle detectionsystem 100 is unable to detect the target aerial vehicle 104 a (e.g.,due to weather, or intermittent signal losses), the counter-attack UAV102 a may be able to utilize its components (FIG. 3) to detect, track,and intercept the target aerial vehicle 104 a. In such instances wherethe external aerial vehicle detection system 100 is not present or isusable, a number of counter-attack UAVs can be positioned around theairspace area A, such that their respective camera(s) are pointed indirections of interest. And, in response to detection of an incomingtarget aerial vehicle, the counter-attack UAV(s) can then autonomouslydetect, classify, track, intercept, and neutralize the target aerialvehicle (that is within the FOV and range of the on-board camera(s), asfurther discussed herein in various examples).

In some examples where the aerial vehicle capture countermeasurecomprises a net (e.g., FIGS. 1, 4A-7), the counter-attack UAV 102 a cansupport or carry a net control and deployment system comprising a netcontroller 140 operatively coupled to the CPU 122, a release device 142and a restraint device 144, which are each operatively coupled to a netassembly 146 (e.g., the aerial vehicle capture countermeasure 134 a ofFIGS. 1 and 4A). The net assembly 146 can be coupled to a flight body orplatform of the counter-attack UAV 102 a via a net/UAV interface device148, such as a quick-release device or other coupling device. As furtherexemplified below regarding FIGS. 4A-6C, the net controller 140 can beoperated to control the restraint device 144 to facilitate moving thenet assembly 146 from a folded or stowed position to a deployedposition. Once the target aerial vehicle 104 a is captured, for instance(FIG. 1), a force sensor 150 (coupled to the net assembly 146) can sensethe fact that the target aerial vehicle has been captured due to themass of the captured target aerial vehicle 104 a that pulls on thecounter-attack UAV 102 a due to gravity and air drag. The force sensor150 may transmit a signal to the CPU 122 accordingly (or to the netcontroller 140), and then the net controller 140 can be operated toactuate the release device 142 to release the net assembly 146 and thecaptured target aerial vehicle 104 a at a particular location. This netcontrol and deployment system is further exemplified and described belowregarding FIGS. 4A-6C, including a number of components that can be usedto achieve the above functionality.

The various components shown in FIG. 3 can be supported by or about aflight body 201 (FIG. 4A) of the counter-attack UAV 102 a (and othercounter-attack UAVs discussed herein). The flight body 201 can comprisea flight body, or a portion thereof, that structurally supports thecomponents discussed regarding FIG. 3 (and that also supports a batterypowering some or all of the components).

As illustrated in FIG. 1, and in one example, once the departedcounter-attack UAV 102 a is flown within a certain distance of thetarget aerial vehicle 104 a (e.g., 10-150 m), such that the targetaerial vehicle 104 a is within a FOV 136 a of the optical sensor(s) 119,the counter-attack UAV 102 a may utilize the optical sensor(s) 119 tocontinuously track the position of the target aerial vehicle 104 a forinterception and neutralization purposes. For example, a particularoptical sensor can comprise a video camera, mounted on a gimbal device(supported and operated by the counter-attack UAV 102 a), that can beoperated to identify and track the target aerial vehicle 104 a,similarly as discussed above regarding the detection sensors of theexternal aerial vehicle detection system 100. For instance, a Kalmanfilter (or another variation of a Bayesian filter) can be executed as analgorithm by a processor of the CPU 122, and that uses digital signalsgenerated by the video camera to estimate and predict the velocity,position, and orientation of the particular target aerial vehicle, andthen executes a feedback control loop that autonomously and continuouslyadjust the gimbal device to keep the target aerial vehicle centeredabout the FOV 136 a of the video camera, for instance. Such camera couldbe equipped with a long or medium focus telephoto lens to maximize thedistance at which a target aerial vehicle may be identified and trackedat ranges up to 150 m to 300 m, in some examples, but at the cost ofreducing the FOV of the camera. However, because the external aerialvehicle detection system 100 can transmit command data associated with adetected position of the target aerial vehicle 104 a to thecounter-attack UAV 102 a, a narrower FOV can be acceptable in someinstances, if it means the on-board camera has a longer range ofdetection and tracking capabilities. This principle is similarly truefor the target aerial vehicle 104 b being within a FOV 136 b of theoptical sensor(s) 119, wherein the counter-attack UAV 102 b (or 102 c)may utilize the optical sensor(s) 119 to continuously track the positionof the target aerial vehicle 104 b for intercepting a target aerialvehicle.

In some examples, the counter-attack UAV 102 a (and 102 b, 102 c) can beequipped with an optical sensor or camera (e.g., 119) having a narrowband pass filter, and accompanied by an optical frequency matchedillumination source (e.g., high-power LED). The LED can be directed toilluminate the target aerial vehicle 104 a, while reducing backgroundcontributions, so that the camera and filter can better detect and trackthe target aerial vehicle 104 a. Such on-board camera and narrow bandpass filter can also be used to detect only that frequency of lightilluminated onto a target aerial vehicle by an illumination device 116 aof the external aerial vehicle detection system 100, as initiallymentioned above regarding the description of FIG. 1.

In some examples, each counter-attack UAV exemplified herein can utilizeVisual Inertial Odometry (VIO) technology to assist with flying a pathbased on landmarks alone without the aid of GPS. VIO technology is thefusion of a monocular camera (or stereo tracked landmarks) and an IMU tolessen inherent drift of the IMU alone. It has been recently shown byQualcomm Research (and others) that a drone can have less than 1% driftover a flight path of 650 m without the aid of GPS, when utilizing VIOtechnology. This allows for motion planning and obstacle mapping.Therefore, the counter-attack UAVs discussed herein can implement thisVIO technology (along with a high resolution video (e.g., 4K), otherlow-resolution cameras, dual band Wi-Fi, GNSS, IMU, and a barometersensor) to “track” a designated target aerial vehicle in which a swarmof counter-attack UAVs can follow its target aerial vehicle at somefixed distance and will navigate obstacles that may block its flightpath. In some examples, each counter-attack UAV can utilize GPS-VIOfusion technology to assist with navigation in situations where GPSsignals are intermittent (and therefore accurate satellite positioningis unavailable or inaccurate). In this scenario, each counter-attack UAVcan comprise a sensor fusion position estimator (e.g., as part of theon-board CPU) to determine and/or update an accurate position. Thesensor fusion position estimator can receive data from the on-board GPSdevice (intermittent signal), on-board camera(s), and an IMU. In thisapproach, a Kalman filter may be used to combine information from GPSand VIO when GPS is available, thus minimizing trajectory errorscomputed using VIO along in regions where only VIA is available. Forthis purpose Kalman filters may be used to estimate the state of thesystem (e.g. position, and speed) and fuse data obtained using differentmethods, such as GPS and VIO. Other approaches, such as complementaryfilters, or Bayesian/Markov methods, may also be used to fuse dataobtained from different sensing systems and methodologies.

FIGS. 4A-4D show a system and method of intercepting and neutralizingthe target aerial vehicle 104 a in accordance with one example of thepresent disclosure. As shown in FIG. 4A, the counter-attack UAV 102 acomprises or supports the aerial vehicle capture countermeasure 134 a(see also FIG. 1) in the form of a deployable net assembly that isoperable between a stowed or folded position F (FIGS. 1 and 4A) and adeployed position D (FIG. 4C). In the folded position F, the aerialvehicle capture countermeasure 134 a can be arranged in a low-dragconfiguration (detailed below) to minimize drag forces on the aerialvehicle capture countermeasure 134 a as the counter-attack UAV 102 a isin flight. In response to the counter-attack UAV 102 a intercepting thetarget aerial vehicle 104 a (e.g., being in close proximity), the aerialvehicle capture countermeasure 134 a can be quickly deployed near oralong a predicted or known flight path of the target aerial vehicle 104a to capture the target aerial vehicle 104 a in the aerial vehiclecapture countermeasure 134 a, thereby neutralizing the target aerialvehicle 104 a by entangling rotors and/or body of the target aerialvehicle 104 a in the netting of the aerial vehicle capturecountermeasure 134 a.

More specifically, the aerial vehicle capture countermeasure 134 a cancomprise a plurality of upper support members 200 a-d and a plurality oflower support members 202 a-d coupled together by at least one flexibleentangling element, such as a net 204 (e.g., a monofilament gill net).The support members 200 a-d and 202 a-d can be rigid, yet light-weightstructural support members, such as relatively thin (¼″ diameter) andlong (4-12 feet) fiberglass or carbon fiber epoxy rods, for instance.

As best shown in FIGS. 4B and 4C, the aerial vehicle capturecountermeasure 134 a can comprise an upper deploy mechanism 206 a thatpivotally supports inner or proximate or first ends of the upper supportmembers 200 a-d, and can comprise a lower deploy mechanism 206 b thatpivotally supports inner or proximate or first ends of the lower supportmembers 202 a-d. In one example, a primary support member 208 can becoupled to the upper deploy mechanism 206 a and the counter-attack UAV102 a to support the aerial vehicle capture countermeasure 134 a fromthe flight body 201 of the counter-attack UAV 102 a, and to assist withpositioning the net 204 away from the counter-attack UAV 102 a (toprevent accidental tangling of the net with the rotors of thecounter-attack UAV 102 a). In one example, the primary support member208 can comprise a light-weight rigid or semi-rigid rod. Alternatively,the primary support member 208 could be replaced with a flexible tetheror filament, assuming the weight of the aerial vehicle capturecountermeasure 134 a is heavy enough to remain disposed generally belowand/or behind the counter-attack UAV 102 a to prevent accidentaltangling.

The upper and lower deploy mechanisms 206 a and 206 b can be housings orhubs comprised of durable, light-weight material, such as plastic oraluminum, and can comprise various configurations and functionality tosupport and facilitate deployment of the respective support members 200a-d and 202 a-d. For instance, inner ends of each support member 200 a-dcan be pivotally coupled to the upper deploy mechanism 206 a by pins(not shown) that allow each upper support members 200 a-d to pivotdownwardly approximately 90 degrees from the folded position F to thedeployed position D (as would also be the case with the lower deploymechanism 206 b). Alternatively, an elastic cord could be coupled to theupper deploy mechanism 206 a and then through elongate openings of eachsupport member 200 a-d, and then coupled to ends of each upper supportmembers 200 a-d to generate a downward pulling force on the supportmembers in response to being released from each other, so that eachupper support member 200 a-d is pulled or snapped into place whilemoving to the deployed position D.

In one example, a net restraint device 210 can be operably coupledbetween the counter-attack UAV 102 a and the aerial vehicle capturecountermeasure 134 a. When in the folded position F, a tether (or othercoupling device, like a removable/movable pin or clip) can bundletogether the upper and lower support members 200 a-d and 202 a-d and thenet 204. The net restraint device 210 can be operated or actuated by acontroller of the counter-attack UAV 102 a to pull on the tether torelease the upper and lower support members 200 a-d and 202 a-d frombeing bundled together. The net restraint device 210 could be anelectrically operated servo motor or other device operable to release ormove a restraint device that bundles together the upper and lowersupport members 200 a-d and 202 a-d, for instance. Once released,gravity and/or air drag forces can cause the upper and lower supportmembers 200 a-d and 202 a-d to downwardly pivot relative to respectivedeploy mechanisms 206 a and 206 b until they are positioned or lockedinto the deployed position D of FIG. 4C (a wind force may also assist topull down the support members 200 a-d and 202 a-d). Such deploymentcauses the net 204 to unfold or expand to its deployed position, becausethe lower support members 202 a-d pull the net 204 downwardly away fromthe upper support members 200 a-d due to gravity (and also maybe apresent wind force).

Such actuation to deploy the aerial vehicle capture countermeasure 134 acan be effectuated autonomously by the CPU 122 that can transmit adeployment signal to a controller (not shown) that controls actuation ofthe net restraint device 210. The CPU 122 can be configured to transmitsuch deployment signal based on the detected proximity of the targetaerial vehicle 104 a relative to the counter-attack UAV 102 a. Forinstance, if one or more sensors (e.g., 119 a-n and/or 120 a-n) detectthat the target aerial vehicle 104 a is approximately 5 m away andheaded due North at 5 m/s with a constant altitude gain, the CPU 122 cancause the flight controller 126 to fly the counter-attack UAV 102 a (andits aerial vehicle capture countermeasure) to be positioned just above aflight path of the target aerial vehicle 104 a, and in approximately 5seconds of flight time to intercept the target aerial vehicle 104 a.Accordingly, just a few seconds before “intercepting” the target aerialvehicle 104 a, the CPU 122 can transmit a deployment signal to the netrestraint device 210 to deploy the aerial vehicle capture countermeasure134 a to the deployed position D. The aerial vehicle capturecountermeasure 134 a could then quickly deploy in approximately 1-2seconds to cover a relatively large area of airspace, sufficient tocause the target aerial vehicle 104 a to fly into the net 204, such thatits rotors and/or body gets entangled in the filaments of the net 204,thereby capturing the target aerial vehicle 104 a, and therebyneutralizing it. This can all occur autonomously via the CPU 122 (asdescribed above), such that no external control or manual control isrequired to intercept the target aerial vehicle 104 a with thecounter-attack UAV 102 a, and then to deploy the aerial vehicle capturecountermeasure 134 a to capture the target aerial vehicle 104 a.Providing autonomous launch of the counter-attack UAV 102 a andinterception with the target aerial vehicle 104 a, as well as autonomousdeployment of the aerial vehicle capture countermeasure 134 a, can beadvantageous in many cases due to the agility and speed of many targetaerial vehicles, where rapid interception and neutralization are needed.Of course, however, launch, operation and deployment of thecounter-attack UAV 102 a and a corresponding aerial vehicle capturecountermeasure via manual or piloted systems is contemplated herein.With manned monitoring systems that utilize human monitoring todetect/track a target aerial vehicle, and then manned interaction orcommands to deploy an aerial vehicle to intercept and neutralize thetarget aerial vehicle, such can be used when such rapid neutralizationis not required. However, in those situations where time is of theessence, examples of the present disclosure provide autonomous detectionand tracking of a target aerial vehicle with an aerial vehicle detectionsystem, and then autonomous communication to one or more counter-attackUAV(s), and then autonomous interception and neutralization of thetarget aerial vehicle with the one or more counter-attack UAV(s), allwithin just a few minutes (or even a few seconds) and without humanintervention or interaction, as exemplified here with the examplesdiscussed regarding FIGS. 1-4D.

As illustrated in FIG. 4C, when in the deployed position D the aerialvehicle capture countermeasure 134 a can define a plurality of capturezones 212 a-d each extending in different directions from each other todefine a three-dimensional zone of capture. The capture zones 212 a-dcan be generally rectangular shaped and have planar capture areasextending 90 degrees relative to adjacent capture zones (like a cross orplus sign when viewing from above or below). Thus, a generally 360degree zone of capture can be defined by the outer boundaries of thecapture zones 212 a-d. Therefore, regardless of the particularrotational position of the aerial vehicle capture countermeasure 134 a,at least one capture zone 212 a-d may always be in a position tointercept the target aerial vehicle 104 a. This increases the likelihoodthat the target aerial vehicle 104 a will be captured in the net 204,while not necessarily controlling the rotational position of the aerialvehicle capture countermeasure 134 a. This also provides a low-dragconfiguration because of the plus-shape configuration providing asymmetrical net assembly having capture zones extending orthogonallyrelative to one another or adjunct zones, which minimizes wind dragforces acting on the aerial vehicle capture countermeasure 134 a.

Once the target aerial vehicle is captured, the aerial vehicle capturecountermeasure 134 a (and the captured target aerial vehicle 104 a) canbe transported and released at a particular drop zone or location, suchas away from populated areas, as illustrated in FIG. 4D. To achievethis, a release mechanism 214 can be coupled between the counter-attackUAV 102 a and the aerial vehicle capture countermeasure 134 a, and canbe operated to release the aerial vehicle capture countermeasure 134 afrom the counter-attack UAV 102 a when desired or programmed. Therelease mechanism 214 can be communicatively coupled to the CPU 122,which can cause transmission of a control signal to the releasemechanism 214 to actuate a release device that separates the aerialvehicle capture countermeasure 134 a from the counter-attack UAV 102 a.Any suitable mechanical and/or electrical release mechanism can beincorporated that separates two bodies or parts from being coupled toeach other, such as a parachute 3-ring release system, or similarapproach using a wire activated quick release or pin-in-hole releasedevice.

Once dropped at a particular location, the aerial vehicle capturecountermeasure 134 a and the captured target aerial vehicle 104 a canthen be retrieved by an individual based on a tagged position of thedrop zone (which can be programmed or recorded by the CPU 122 and thentransmitted accordingly). The target aerial vehicle 104 a can be removedand the aerial vehicle capture countermeasure 134 a can be re-used withthe same or another counter-attack UAV for another operation.

In some examples, the deployed aerial vehicle capture countermeasure 134a can be autonomously returned to the folded position F in instanceswhere the target aerial vehicle 104 a was not captured. In this example,the net restraint device 210 can be operated to retract a tether (orother device) coupled to ends of the support members that folds thesupport members of the aerial vehicle capture countermeasure 134 a backto the folded position F.

In some examples, a human operator can control of the counter-attack UAV102 a to operate its flight and deployment of the aerial vehicle capturecountermeasure 134 a to capture the target aerial vehicle 104 a. A livevideo feed can be viewed by the human operator, and a remote control canbe used to control the counter-attack UAV 102 a. However, human reactiontime may not be as seamless or timely as compared to the autonomoustracking of the target aerial vehicle, and the autonomous navigation ofthe counter-attack UAV for interception and neutralization purposes.

In another example, a particular aerial vehicle capture countermeasurecan include just the upper support members (e.g., 200 a-d), and a netcoupled laterally between the upper support members (e.g., nettingextending orthogonal to the direction of a tether coupled to thecounter-attack UAV 102 a). A plurality of tendrils or individualfilaments can extend from the net and/or the upper support members togenerate a three-dimensional capture zone or area trailing behind thecounter-attack UAV. Such upper support members can be pulled generallyorthogonal to the direction of flight (subject to wind resistance) andoriented orthogonal to each other, such as in FIG. 4C. In this example,dozens of such tendrils, being many meters long (e.g., up to 30 m ormore), can be dragged behind the support members. This can provide avery low-drag, three-dimensional capture zone, because the ends of thetendrils tend to flutter or drift in the wind in a sporadic manner todefine a zone of capture (much like tendrils of a jellyfish). In thismanner, the counter-attack UAV can be operable to trail behind adetected target aerial vehicle at a velocity that it passes along ornearby the target aerial vehicle close enough so that the tendrils getsucked into or engulfed by the rotors of the target aerial vehicle.

The net 204 (and other nets or filament elements discussed herein) canbe manufactured as a number of different high-strength filaments. Forinstance, high-strength ultra-high molecular weight polyethylene(UHMWPE) fibers, such as Dyneema® produced by DSM, or Spectra® producedby Honeywell (i.e., monofilaments) can be utilized, which use longmolecular chains to transfer loads within individual fibers. Other typeswill be apparent to those skilled in the art. Various pound test andmesh sizes can be used, depending on the application, such as, but notbeing limited to, 1.5-pound test and 2.25 square inch mesh may besuitable to capture any number of available UAVs, for instance. Somenets may have knots where they intersect, and others may be knotlessnetting that utilizes four-strand braiding techniques that eliminateknots. The elimination of knots reduces drag and improves handlingduring deployment and stowage of a particular net, such as the net 204and others discussed herein.

The strength of the net required to capture one or more target aerialvehicles will ultimately determine the type of filament needed. Based onthe type of filament and its diameter, and based on mesh size andoverall net coverage, it is necessary to balance aerodynamic drag at agiven angle to ensure that the net does not deploy and then trail toofar behind and horizontal from the counter-attack UAV when in tow anddeployed. One or more counterweights could be used to prevent sucheffect by being coupled to the net or individual strands or filaments.

Various input parameters are taken into consideration when solving forequations of motion of the counter-attack UAV 102 a towing the aerialvehicle capture countermeasure 134 a to intercept the target aerialvehicle 104 a. For instance, the input parameters associated with thecounter-attack UAV 102 a can be as follows: gravitational acceleration;drag coefficient; frontal area; air density; mass; maximum thrust; andinitial position and velocity. The particular drag coefficient of theaerial vehicle capture countermeasure 134 a is also taken intoconsideration when solving for equations of motion to intercept thetarget aerial vehicle 104 a.

FIGS. 5A and 5B illustrate a system for supporting the counter-attackUAV 102 a (or other counter-attack UAVs discussed herein) and the aerialvehicle capture countermeasure 134 a while in a grounded position. Thesystem can include a pedestal 216 that can be supported by a supportstructure or ground surface, and that can have a platform or deck 218upon which the counter-attack UAV 102 a can be supported while in thegrounded position. The pedestal 216 can be as tall as or taller than alength of the aerial vehicle capture countermeasure 134 a so that it mayhang appropriately from the counter-attack UAV 102 a. The platform 218can be generally flat and can comprise a U-shaped profile to accommodatethe hanging aerial vehicle capture countermeasure 134 a through a slotformed in the platform 218, while supporting the flight body of thecounter-attack UAV 102 a. In response to detecting the target aerialvehicle 104 a (as detailed above), the counter-attack UAV 102 a candepart from the pedestal 216 while freely dragging or towing the aerialvehicle capture countermeasure 134 a in the folded position F (FIG. 5B).

The pedestal 216 can position a camera or other sensor of thecounter-attack UAV 102 a at a height above the ground, for instance, toallow the camera to be able to monitor airspace for possible targetaerial vehicles. This is advantageous because most cameras are mountedbelow horizontal and below the rotors of a UAV, for instance, and cannotalways look upwardly while on the ground. A power source (not show) maybe associated with the platform 218 and electrically coupled to thecounter-attack UAV 102 a for continuously powering the counter-attackUAV 102 a when grounded. Various information or data connections canalso be supplied to the counter-attack UAV 102 a as carried by thepedestal 216. Indeed, after being grounded and coming to rest upon theplatform 218, the counter-attack UAV 102 a can be connected to powerand/or data lines. The counter-attack UAV 102 a can also be operable to“return home” to the pedestal 218 in instances where the aerial vehiclecapture countermeasure 134 a was not deployed.

FIGS. 6A-6C show a system and method of intercepting and neutralizing atarget aerial vehicle 104 b in accordance with one example of thepresent disclosure. As shown in FIG. 6A, the counter-attack UAV 102 ccomprises or supports an aerial vehicle capture countermeasure 134 c inthe form of a deployable net assembly that is operable between a stowedor folded position F (FIG. 6A) and a deployed position D (FIG. 6C). Inthe folded position F, the aerial vehicle capture countermeasure 134 ccan be arranged in a low-drag configuration to minimize drag forces onthe aerial vehicle capture countermeasure 134 c, and therefore thecounter-attack UAV 102 c, as the counter-attack UAV 102 c is in flight.In response to the counter-attack UAV 102 c intercepting the targetaerial vehicle 104 b (e.g., being in close proximity), the aerialvehicle capture countermeasure 134 c can be quickly deployed near oralong a predicted or known flight path of the target aerial vehicle 104b to capture the target aerial vehicle 104 b in the aerial vehiclecapture countermeasure 134 c, thereby neutralizing the target aerialvehicle 104 b by entangling the rotors and/or body of the target aerialvehicle 104 b in the netting of the aerial vehicle capturecountermeasure 134 c.

More specifically, the aerial vehicle capture countermeasure 134 c cancomprise a pair of radial support members 336 a and 336 b coupledtogether by at least one flexible entangling element, such as a net 305(e.g., a monofilament gill net). The radial support members 336 a and336 b can be flexible, light-weight rods or members, such as fiberglass,that can each be folded or wrapped around themselves and each other (andwrapping the net) when in the folded position in FIG. 6A. The radialsupport members 336 a and 336 b can be relatively thin (¼″ diameter) andlong (e.g., 20 or more feet in circumference).

A net restraint device 310 can be operably coupled between thecounter-attack UAV 102 c and the aerial vehicle capture countermeasure134 c. Therefore, when in the folded position F, a tether (or othercoupling device, like a removable/movable pin or clip) can bundletogether the upper and lower radial support member 336 a and 336 b (andthe net 305). The net restraint device 310 can be operated or actuatedby a controller of the counter-attack UAV 102 c to pull on the tether torelease the upper and lower radial support members 336 a and 336 b frombeing bundled together. The net restraint device 310 could be anelectrically operated servo motor or other device operable to release ormove a restraint device that bundles together the upper and lower radialsupport members 336 a and 336 b, for instance.

In the folded position, the radial support members 336 a and 336 b caneach be folded in a manner such that they have stored energy as a resultof them being flexible, wrapped or bundled fiberglass rods, forinstance, and being folded upon themselves. Once released, the radialsupport members 336 a and 336 b automatically deploy or unwrap byreleasing such stored energy, so that each radial support member 336 aand 336 b expands to a circular or oval shape, and separate from eachother (limited by the size of the net 305) until they are positioned inthe deployed position D shown in FIG. 6C. Such deployment causes the net305 to automatically unfold or expand to its deployed position, becausethe lower radial support member 336 b pulls down or outwardly the net305 away from the upper radial support member 336 a due to gravity (andalso maybe a present wind force).

Such actuation to deploy the aerial vehicle capture countermeasure 134 ccan be effectuated autonomously by the CPU 122 (see e.g., FIG. 3) thatcan transmit a deployment signal to a controller (not shown) thatcontrols actuation of the net restraint device 310. The CPU 122 can beconfigured to transmit such deployment signal based on the detectedproximity of the target aerial vehicle 104 b relative to thecounter-attack UAV 102, similarly as described regarding the example ofFIGS. 4A-4D.

As shown in FIG. 6C, when in the deployed position D the aerial vehiclecapture countermeasure 134 c can define a three-dimensional capture zonein the shape of a cylindrical region or net capture area. Thus,regardless of the particular rotational position of the aerial vehiclecapture countermeasure 134 c, a section of the cylindrically shapednetting may always be facing the target aerial vehicle 104 b. Thisincreases the likelihood that the target aerial vehicle 104 b will becaptured in the net 305, while not necessarily needing to control therotational position of the aerial vehicle capture countermeasure 134 c.

Once the target aerial vehicle is captured, the aerial vehicle capturecountermeasure 134 c (and the captured target aerial vehicle 104 b) canbe transported and released at a particular drop zone or location via arelease mechanism 314 that can be coupled between the counter-attack UAV102 c and the aerial vehicle capture countermeasure 134 c, similarly asdescribed regarding the example discussed and shown in FIG. 4D.

In some examples, a human operator can control the counter-attack UAV102 c to operate its flight and deployment of the aerial vehicle capturecountermeasure 134 c to capture the target aerial vehicle 104. A livevideo feed can be viewed by the human operator, and a remote control canbe used to control the counter-attack UAV 102 c. However, human reactiontime may not be as seamless or timely as compared to the autonomoustracking of the target aerial vehicle, and the autonomous navigation ofthe counter-attack UAV for interception and neutralization purposes.

In another example, an aerial vehicle capture countermeasure can includejust one (deployable) radial support member (e.g., 336 a), and a netand/or tendrils can be coupled thereto. In this example, dozens oftendrils, being many meters long (e.g., up to 30 m or more), can bedragged behind the support members. This can provide a very low-drag,three-dimensional capture zone, because the ends of the tendrils tend toflutter or drift in the wind in a sporadic manner to define a zone ofcapture (much like tendrils of a jellyfish). In this manner, thecounter-attack UAV can be operable to trail behind a detected targetaerial vehicle at a velocity that it passes along or nearby the targetaerial vehicle close enough (e.g., less than 30 m) so that the tendrilsget sucked into or engulfed by the rotors of the target aerial vehicle.

The counter-attack UAV 102 c and the aerial vehicle capturecountermeasure 134 c can be supported by a platform or pedestal when ina grounded mode, and then operable to launch from the platform inresponse to detection of a target aerial vehicle, similarly as shown anddescribed with reference to FIG. 5A.

FIG. 7 shows a system and method of neutralizing a target aerial vehicle104 b with a counter-attack UAV 102 b in accordance with one example ofthe present disclosure. The counter-attack UAV 102 b and the system itis operational with can have the same or similar features as thecounter-attack UAVs and system described above with reference to FIGS.1-6C to intercept and neutralize the target aerial vehicle 104 b.However, in this example the counter-attack UAV 102 b can be afixed-wing unmanned aerial vehicle that is operable to neutralize thetarget aerial vehicle 104 b. Specifically, an aerial vehicle capturecountermeasure 134 b can be coupled to the counter-attack UAV 102 b forentangling rotors of the target aerial vehicle 104 b during flight.

The aerial vehicle capture countermeasure 134 b comprises a supportmember 220 (e.g., an aluminum or fiberglass rod) tethered to thecounter-attack UAV 102 b, and that supports at least one flexibleentangling element, such as a net 222, which can have a plurality oftendrils 224 extending from various portions of the net 222. Thisprovides a low-drag configuration to minimize drag forces on the aerialvehicle capture countermeasure 134 b as the counter-attack UAV 102 b isoperated in airspace, because the net 222 effectively generates atwo-dimensional capture zone towed directly behind the counter-attackUAV 102 b.

In response to the counter-attack UAV 102 b intercepting the targetaerial vehicle 104 b (e.g., being in close proximity to each other, asdescribed herein), the aerial vehicle capture countermeasure 134 b canbe towed and positioned along a predicted or known flight path of thetarget aerial vehicle 104 b to capture the target aerial vehicle 104 bin the net 222 (or its tendrils 224), thereby entangling the rotorsand/or body of the target aerial vehicle 104 b to neutralize the targetaerial vehicle 104 b. This can reduce the need for highly accurateterminal tracking of the target aerial vehicle 104 b, because the aerialvehicle capture countermeasure 134 b can be relatively large compared tothe footprint of the target aerial vehicle 104 b, and because thecounter-attack UAV 102 b is only required to be nearby or proximate thetarget aerial vehicle 104 b to capture it.

In this example, the net 222 can be a relatively large rectangular shape(e.g., 15 m by 50 m, or more), because the drag on the aerial vehiclecapture countermeasure 134 b would be relatively low due to itslow-profile being towed along a general horizontal direction throughairspace, and because the net 222 may be relatively lightweight for itssize, as discussed herein. In some examples, the support member 220 canhave an aerodynamic shape, such as an airfoil-shaped profile, whichreduces drag forces and may assists to orient the net 222 along adesired orientation when being towed. Stabilizing devices, such as smallairfoils or winglets, can be coupled to ends of the support member 220to orient the aerial vehicle capture countermeasure generallyperpendicular to the direction of flight, and to prevent spinning of thesupport member and the net while in flight. Alternatively, winglets anda stabilizing support member with winglets may also be installed on thetrailing edge of the capture countermeasure to enhance stability andcontrol of the orientation of the capture countermeasure.

In some examples, the support member 220 can be configured in a foldedposition and then deployable in a deployed position. In this manner, thesupport member 220 can be two or more collapsible support members, andthe net 222 can be wrapped or bundled around such support members. Suchsupport members can be oriented vertically during transport until thetime at which the counter-attack UAV 102 b deploys or releases a bundleof the support members, for instance. The net 222 could thenautomatically unfold or unwrap from the support member 220 due to dragforces exerted on the support member 220 and the net 222. Similarly, asdescribed above, the counter-attack UAV 102 b could trail and then passthe target aerial vehicle 104 b in close proximity, and then thetendrils 224 and/or net 220 can be entangled in the rotors of the targetaerial vehicle 104 b (e.g., due to the suction force generated by rotorsof the target aerial vehicle 104 b).

Once captured, the aerial vehicle capture countermeasure 134 b and thetarget aerial vehicle 104 b can be transported and released at aparticular drop zone, such as away from populated areas (e.g., see FIG.4D). Thus, a release mechanism 226 can be coupled to the counter-attackUAV 102 b and the aerial vehicle capture countermeasure 134 b, and canbe operated by the counter-attack UAV 102 b to release the aerialvehicle capture countermeasure 134 b from the counter-attack UAV 102 b.

One primary advantage of various nets disclosed herein is thelight-weight, low-drag features of the netting, which allows for arelatively large capture area or surface area. For instance, a16-foot-wide and 550-yard-long net (covering 2,500 m²) of 1.5-pound (ormore) test monofilament, with about a 3-inch square average mesh size,can weight just 5 pounds. And, one support member being 16 feet long canweight just a few pounds or less itself, so the entire aerial vehiclecapture countermeasure can weigh less than 10 pounds while covering2,500 m² area of capture. Thus, a particular counter-attack UAV, havinga 30-pound payload capacity, for instance, can readily tow such aerialvehicle capture countermeasure, even with a potentially high drag force(e.g., 10-20 pounds) when traveling at relatively high speeds tointercept a target aerial vehicle.

FIG. 8 shows a system and method of intercepting and neutralizing atarget aerial vehicle 404 with a counter-attack UAV 402 in accordancewith one example of the present disclosure. The counter-attack UAV 402can have the same or similar features as described with reference to thecounter-attack UAVs described with reference to FIGS. 1-6C to interceptand neutralize the target aerial vehicle 404. Here, an aerial vehiclecapture countermeasure 434 can be a plurality of tendrils 435 (i.e., nota net) coupled to the counter-attack UAV 402 for entangling rotors ofthe target aerial vehicle 404 during flight. One or more weights can becoupled to one or more tendrils 435 to help keep the tendrils 435hanging from the counter-attack UAV 402, and to prevent them fromaccidentally tangling with the counter-attack UAV 402. Alternatively, asshown, a semi-rigid or rigid rod or other support member 403 can becoupled to the counter-attack UAV 402 and can extend downwardly from thecounter-attack UAV 402 to support the tendrils 435 for the same purpose.In this configuration, the tendrils 435 can be deployed (from a stowedto a deployed position) from an elongate cavity through the supportmember 403 by sufficient wind forces, or by active actuation effectuatedby the counter-attack UAV 402 that actuates a release device to releasea bundle or collection of tendrils 435 in a suitable manner.

This tendril configuration can provide a low-drag capture mechanism thatminimizes drag forces as the counter-attack UAV 402 is operated inairspace, because the drag forces on an individual strand or filament ofa particular tendril is quite low because the free end is able toflutter or move in the wind without constraint.

Therefore, in response to the counter-attack UAV 402 intercepting thetarget aerial vehicle 404 (e.g., being in close proximity to each other,as described herein), the aerial vehicle capture countermeasure 434 canbe towed and positioned along a predicted or known flight path of thetarget aerial vehicle 404 to capture the target aerial vehicle 404 inone or more tendrils 435, thereby entangling rotors of the target aerialvehicle 404 to neutralize the target aerial vehicle 404. The tendrils435 can be a relatively long, such as 15 m to 50 m, or more, due totheir lightweight properties and low-drag features.

The tendrils 435 can be configured in a bundled or stowed position in orabout the flight body of the counter-attack UAV 402, and then deployablein a deployed position, as shown in FIG. 8. Once captured, the aerialvehicle capture countermeasure 434 and the target aerial vehicle 404 canbe transported and released at a particular drop zone, such as away frompopulated areas (e.g., see FIG. 4D). Thus, a release mechanism can becoupled to the counter-attack UAV 402 and the aerial vehicle capturecountermeasure 434, and can be operated by the counter-attack UAV 402 torelease the aerial vehicle capture countermeasure 434 from thecounter-attack UAV 402.

It should be appreciated that any number of shapes and configurations ofnetting and their supports could be implemented, such as circular oroval-shaped, polygon-shaped, irregular shaped, etc. In some examples, aplurality of counter-attack UAVs could even deploy a net having athree-dimensional zone of capture, such as the addition of tendrils, oreven deploying a spherical net deployed with radial support members, forinstance. In this example, at least one “net face” or surface area willalways face a particular target aerial vehicle regardless of therotational position of the net, which increases the chances of capturingthe target aerial vehicle.

In the various examples discussed herein, one or more aerial theatreobserver UAV(s) can be operated to hover or fly around a monitored areato assist with neutralizing a target aerial vehicle. For instance,high-performance aerial theatre observer UAV(s) can have a variety ofsensors and devices discussed herein (e.g., optical cameras, gimbals,etc.) that can “observe” terminal tracking and neutralization of thetarget aerial vehicle, meaning that the aerial theatre observer UAV(s)can also track, in real-time, the target aerial vehicle and then cancommunicate collected data to one or more counter-attack UAV(s) and/orto the external aerial vehicle detection system 100. This system assiststo provide track target aerial vehicle(s) where tracking may beintermittent or unavailable by the one or more counter-attack UAV(s)and/or to the external aerial vehicle detection system 100 (e.g., due toweather, detection range issues, birds, etc.). Human observers can alsoreceived data, such as live video feed, from such aerial theatreobserver UAV(s) to observe the success or failure of neutralizing thetarget aerial vehicle, which can act as a back-up system if the targetaerial vehicle avoids neutralization by the counter-attack UAV(s).

Reference was made to the examples illustrated in the drawings andspecific language was used herein to describe the same. It willnevertheless be understood that no limitation of the scope of thetechnology is thereby intended. Alterations and further modifications ofthe features illustrated herein and additional applications of theexamples as illustrated herein are to be considered within the scope ofthe description.

Furthermore, the described features, structures, or characteristics maybe combined in any suitable manner in one or more examples. In thepreceding description, numerous specific details were provided, such asexamples of various configurations to provide a thorough understandingof examples of the described technology. It will be recognized, however,that the technology may be practiced without one or more of the specificdetails, or with other methods, components, devices, etc. In otherinstances, well-known structures or operations are not shown ordescribed in detail to avoid obscuring aspects of the technology.

Although the subject matter has been described in language specific tostructural features and/or operations, it is to be understood that thesubject matter defined in the appended claims is not necessarily limitedto the specific features and operations described above. Rather, thespecific features and acts described above are disclosed as exampleforms of implementing the claims. Numerous modifications and alternativearrangements may be devised without departing from the spirit and scopeof the described technology.

What is claimed is:
 1. A counter-attack unmanned aerial vehicle (UAV)for aerial neutralization of a target aerial vehicle, the counter-attackUAV comprising: a flight body; a flight control system that controlsflight of the counter-attack UAV to intercept a detected target aerialvehicle; and an aerial vehicle capture countermeasure carried by theflight body and operable to capture the detected target aerial vehicle.2. The counter-attack UAV of claim 1, wherein the counter-attack UAVcomprises at least one sensor configured to detect a position of thetarget aerial vehicle, the flight control system comprising a flightcontroller operable to control autonomous flight of the counter-attackUAV based on a detected position of the target aerial vehicle.
 3. Thecounter-attack UAV of claim 1, further comprising a wirelesscommunication device supported by the flight body and communicativelycoupled to an external aerial vehicle detection system, thecommunication device configured to receive command data from theexternal aerial vehicle detection system, the command data associatedwith the target aerial vehicle as detected by the external aerialvehicle detection system.
 4. The counter-attack UAV of claim 3, furthercomprising at least one camera movably coupled to flight body, the atleast one camera movable to establish and modify a pointing position,based on the command data received from the external aerial vehicledetection system, to detect and track the target aerial vehicle.
 5. Thecounter-attack UAV of claim 3, wherein the flight control systemcomprises a flight controller operable to control autonomous flight ofthe counter-attack UAV based on the received command data to interceptthe target aerial vehicle.
 6. The counter-attack UAV of claim 1, whereinthe flight control system comprises a central processing unit (CPU) anda flight controller in communication with one another, wherein the atleast one sensor comprises a camera operable to detect a position of thetarget aerial vehicle, the camera operatively coupled to the CPU forprocessing data associated with the detected position to track a dynamicflight position of the target aerial vehicle, wherein the flightcontroller is configured to control autonomous flight of thecounter-attack UAV to intercept the dynamic flight position of thetarget aerial vehicle.
 7. The counter-attack UAV of claim 1, wherein theaerial vehicle capture countermeasure comprises at least one flexibleentangling element configured to disrupt operation of at least onerotary propeller device of the target aerial vehicle in response to thecounter-attack UAV being in close proximity with the target aerialvehicle.
 8. The counter-attack UAV of claim 7, wherein the at least oneflexible entangling element comprises at least one of a net, filament,monofilament, braided filament, tendril, fiber, string, cord, strand,thread, rope, or wire.
 9. The counter-attack UAV of claim 1, wherein theaerial vehicle capture countermeasure is operable by the counter-attackUAV between a folded position and a deployed position.
 10. Thecounter-attack UAV of claim 9, wherein the aerial vehicle capturecountermeasure comprises a plurality of support members and at least onenet coupled to the plurality of support members, wherein the pluralityof support members and the at least one net are collapsible when in thefolded position.
 11. The counter-attack UAV of claim 10, wherein theplurality of support members and the at least one net define a pluralityof net capture zones, when in the deployed position, each extending indifferent directions from each other to define a three-dimensional zoneof capture defined by the aerial vehicle capture countermeasure.
 12. Thecounter-attack UAV of claim 10, further comprising a restraint devicecoupled to the aerial vehicle capture countermeasure, and configured tomaintain the aerial vehicle capture countermeasure in the foldedposition, wherein the counter-attack UAV is operable to actuaterestraint device to move the aerial vehicle capture countermeasure tothe deployed position.
 13. The counter-attack UAV of claim 9, whereinthe plurality of support members comprises a first radial support memberand a second radial support member, wherein the at least one net couplesthe first and second radial support members together to form athree-dimensional zone of capture defined by the aerial vehicle capturecountermeasure.
 14. The counter-attack UAV of claim 1, furthercomprising a release mechanism coupling the flight body to the aerialvehicle capture countermeasure, the counter-attack UAV operable toactuate the release mechanism to release the aerial vehicle capturecountermeasure from the counter-attack UAV after capturing the targetaerial vehicle to deliver the captured target aerial vehicle to aparticular location.
 15. A system for detecting and neutralizing atarget aerial vehicle, the system comprising: a counter-attack unmannedaerial vehicle (UAV) comprising: a flight body; a flight control systemthat controls flight of the counter-attack UAV; and an aerial vehiclecapture countermeasure carried by the flight body, an aerial vehicledetection system comprising at least one detection sensor operable todetect a target aerial vehicle, and operable to provide command data tothe counter-attack UAV to facilitate interception of the target aerialvehicle by the counter-attack UAV; wherein, in response to interceptionof the target aerial vehicle, the counter-attack UAV is operable tocapture the detected target aerial vehicle with the aerial vehiclecapture countermeasure.
 16. The system of claim 15, wherein the commanddata comprises at least one of intercept data, aerial vehicle capturecountermeasure deployment command data, target aerial vehicle detectiondata, counter-attack UAV control data, authorization to engage andcapture data, or a combination thereof.
 17. The system of claim 15,wherein the aerial vehicle detection system comprises an on-board aerialvehicle detection system comprising at least one sensor configured todetect a position of the target aerial vehicle, the flight controlsystem comprising a flight controller operable to control autonomousflight of the counter-attack UAV based on the detected position of thetarget aerial vehicle.
 18. The system of claim 15, wherein the aerialvehicle detection system comprises an external aerial vehicle detectionsystem, the external aerial vehicle detection system comprising at leastone detection sensor operable to detect the target aerial vehicle and toprovide command data to the counter-attack UAV to facilitateinterception of the target aerial vehicle.
 19. The system of claim 18,wherein the external aerial vehicle detection system is associated witha ground-based structure to monitor an airspace, wherein the at leastone detection sensor comprises a plurality of detection sensorsconfigured to detect at least one target aerial vehicle.
 20. The systemof claim 15, wherein the flight control system comprises a centralprocessing unit (CPU) and a flight controller coupled to each other,wherein the at least one sensor comprises a camera operable to detect aposition of the target aerial vehicle, the camera operatively coupled tothe CPU for processing data associated with the detected position totrack a dynamic flight position of the target aerial vehicle, whereinthe flight controller is configured to control autonomous flight of thecounter-attack UAV to intercept the dynamic flight position of thetarget aerial vehicle.
 21. The system of claim 15, wherein the aerialvehicle capture countermeasure comprises at least one flexibleentangling element configured to disrupt operation of at least onerotary propeller device of the target aerial vehicle in response to thecounter-attack UAV being in close proximity with the target aerialvehicle.
 22. The system of claim 15, wherein the aerial vehicle capturecountermeasure is operable by the counter-attack UAV between a foldedposition and a deployed position.
 23. The system of claim 22, whereinthe aerial vehicle capture countermeasure comprises a plurality ofsupport members and at least one net coupled to the plurality of supportmembers, wherein the plurality of support members and the at least onenet are collapsible when in the folded position.
 24. The system of claim23, wherein the plurality of support members and the at least one netdefine a plurality of net capture zones, when in the deployed position,each extending in different directions from each other to define athree-dimensional zone of capture defined by the aerial vehicle capturecountermeasure.
 25. The system of claim 24, wherein each of theplurality of support members comprises at least one of a linear rod or aradial rod.
 26. The system of claim 15, further comprising a releasemechanism coupling the flight body to the aerial vehicle capturecountermeasure, the counter-attack UAV operable to actuate the releasemechanism to release the aerial vehicle capture countermeasure from thecounter-attack UAV after capturing the target aerial vehicle to deliverthe captured target aerial vehicle to a particular location.
 27. Thesystem of claim 18, further comprising a plurality of counter-attackUAVs including the counter-attack UAV, wherein each counter-attack UAVis in communication with at least one of the aerial vehicle detectionsystem associated with a ground-based structure or one or more othercounter-attack UAVs, and wherein each counter-attack UAV comprises adeployable aerial vehicle capture countermeasure.
 28. A method foraerial neutralization of a target aerial vehicle, comprising: detectinga target aerial vehicle; operating a counter-attack unmanned aerialvehicle (UAV) to intercept the target aerial vehicle; and capturing thetarget aerial vehicle with an aerial vehicle capture countermeasurecarried by the counter-attack UAV
 29. The method of claim 28, whereindetecting the target aerial vehicle further comprises tracking a dynamicflight position with at least one sensor of an aerial vehicle detectionsystem, wherein the aerial vehicle detection system comprises at leastone of a detection sensor on-board the counter-attack UAV or a detectionsensor remotely located from the counter-attack UAV.
 30. The method ofclaim 28, further comprising communicating position data between aplurality of counter-attack UAVs, including the counter-attack UAV, eachcounter-attack UAV comprising a deployable aerial vehicle capturecountermeasure.
 31. The method of claim 28, wherein detecting the targetaerial vehicle comprises autonomously detecting the target aerialvehicle and autonomously tracking the target aerial vehicle.
 32. Themethod of claim 28, further comprising establishing a pointing positionof a camera of the counter-attack UAV to track the target aerialvehicle, the pointing position based on command data received from anaerial vehicle detection system.
 33. The method of claim 28, furthercomprising transitioning the aerial vehicle capture countermeasure froma folded position to a deployed position to define a three-dimensionalzone of capture for capturing the target aerial vehicle.
 34. The methodof claim 28, further comprising actuating a release mechanism couplingthe counter-attack UAV to the aerial vehicle capture countermeasure torelease the aerial vehicle capture countermeasure from thecounter-attack UAV after capturing the target aerial vehicle to deliverthe target aerial vehicle to a particular location.
 35. The method ofclaim 28, wherein detecting the target aerial vehicle further comprisesoperating an optical sensor and a radar sensor each supported by thecounter-attack UAV to detect a position of the target aerial vehicle.36. The method of claim 28, wherein detecting the target aerial vehiclefurther comprises operating a plurality of detection sensors associatedwith a ground structure to generate position data associated with thetarget aerial vehicle, the method further comprising continuouslycommunicating the position data to the counter-attack UAV.
 37. Themethod of claim 28, wherein detecting the target aerial vehicle furthercomprises operating a plurality of detection sensors to generateposition data associated with the target aerial vehicle, the methodfurther comprising eliminating position data associated with one or moredetection sensors based on a credibility hierarchy associated with theplurality of detection sensors.
 38. A tangible and non-transitorycomputer readable medium comprising one or more computer softwaremodules configured to direct one or more processors to: receive datagenerated by one or more detection sensors, the data associated with atarget aerial vehicle; determine a position of the target aerial vehiclebased on the received data; and communicate command data associated withthe determined position to at least one counter-attack unmanned aerialvehicle (UAV).